INTERNET OF THINGS

TOPIC – IMPLEMENTATION OF LINE

FOLLOWER ROBOTS IN APPAREL
INDUSTRY

SUBMITTED BY –

MAYA N M (BFT/17/1189)

NIKITA RATISH (BFT/17/143)

SIVANI JAYANTH (BFT/17/1109)

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CONTENTS

TOPIC PAGE NUMBER

Acknowledgement 3

Internet of things (IOT) 4-7

Line follower robots 8

Concept of Line follower 9

Objective of project 10

Clump system 10 - 11

Concept behind project 12

Circuit diagram 12 - 15

Working of Line follower using Arduino UNO 15 - 16

Building and working of robot 17 - 20

Final product 21

Suggestions 22

References 23

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ACKNOWLEDGEMENT

I wish to express my sincere gratitude to Mr. Prabin Kumar Rout for providing us an opportunity to
do our project on the topic “Implementation of Line Follower Robot in an Apparel Industry.”

This project was a source of immense knowledge to us. We acknowledge with a deep sense of
gratitude, encouragement and inspiration received from our faculty and group members.

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INTERNET OF THINGS (IoT)

The Internet of Things is the concept of connecting any device (so long as it has an on/off switch) to
the Internet and to other connected devices. The IoT is a giant network of connected things and
people, all of which collect and share data about the way they are used and about the environment
around them.

That includes an extraordinary number of objects of all shapes and sizes – from smart microwaves,
which automatically cook your food for the right length of time, to self-driving cars, whose complex
sensors detect objects in their path, to wearable fitness devices that measure your heart rate and
the number of steps you’ve taken that day, then use that information to suggest exercise plans
tailored to you. There are even connected footballs that can track how far and fast they are thrown
and record those statistics via an app for future training purposes.

WORKING OF IoT

Devices and objects with built in sensors are connected to an Internet of Things platform, which
integrates data from the different devices and applies analytics to share the most valuable
information with applications built to address specific needs.

These powerful IoT platforms can pinpoint exactly what information is useful and what can safely be
ignored. This information can be used to detect patterns, make recommendations, and detect
possible problems before they occur.

IMPORTANCE OF IoT

The internet of things helps people live and work smarter as well as gain complete control over their
lives. In addition to offering smart devices to automate homes, IoT is essential to business. IoT
provides businesses with a real-time look into how their companies’ systems really work, delivering
insights into everything from the performance of machines to supply chain and logistics operations.

IoT enables companies to automate processes and reduce labour costs. It also cuts down on waste
and improves service delivery, making it less expensive to manufacture and deliver goods as well as
offering transparency into customer transactions.

IoT touches every industry, including healthcare, finance, retail and manufacturing. Smart cities help
citizens reduce waste and energy consumption and connected sensors are even used in farming to
help monitor crop and cattle yields and predict growth patterns.

As such, IoT is one of the most important technologies of everyday life and it will continue to pick up
steam as more businesses realize the potential of connected devices to keep them competitive.

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EXAMPLE OF AN IoT SYSTEM

IoT APPLICATIONS

The ability of IoT to provide sensor information as well as enable device-to-device communication is
driving a broad set of applications. The following are some of the most popular applications and
what they do.

 Create new efficiencies in manufacturing through machine monitoring and product-quality

monitoring. Machines can be continuously monitored and analyzed to make sure they are
performing within required tolerances. Products can also be monitored in real time to identify
and address quality defects.

 Improve the tracking and “ring-fencing” of physical assets. Tracking enables businesses to
quickly determine asset location. Ring-fencing allows them to make sure that high-value assets
are protected from theft and removal.

 Use wearables to monitor human health analytics and environmental conditions. IoT wearables
enable people to better understand their own health and allow physicians to remotely monitor
patients. This technology also enables companies to track the health and safety of their
employees, which is especially useful for workers employed in hazardous conditions.

 Drive efficiencies and new possibilities in existing processes. One example of this is the use of
IoT to increase efficiency and safety in fleet management. Companies can use IoT fleet
monitoring to direct trucks, in real time, to improve efficiency.

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 Enable business process changes. An example of this is the use of IoT devices to monitor the
health of remote machines and trigger service calls for preventive maintenance. The ability to
remotely monitor machines is also enabling new product-as-a-service business models, where
customers no longer need to buy a product but instead pay for its usage.

BENEFITS OF IoT

The internet of things offers a number of benefits to organizations, enabling them to:

 Monitor their overall business processes

 Improve the customer experience

 Save time and money

 Enhance employee productivity

 Integrate and adapt business models

 Make better business decisions

 Generate more revenue

IoT encourages companies to rethink the ways they approach their businesses, industries and
markets and gives them the tools to improve their business strategies.

ADVATNAGES OF IoT

 Ability to access information from anywhere at any time on any device

 Improved communication between connected electronic devices

 Transferring data packets over a connected network saves time and money

 Automating tasks helps improve the quality of a business’ services and reduces the need for
human intervention

DISADVANTAGES OF IoT

 As the number of connected devices increases and more information is shared between
devices, the potential that a hacker could steal confidential information also increases

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 Enterprises may eventually have to deal with massive numbers of IoT devices and collecting and
managing the data from all those devices will be challenging

 If there’s a bug in the system, it’s likely that every connected device will become corrupted

 Since there’s no international standard of compatibility for IoT, it’s difficult for devices from
different manufacturers to communicate with each other.

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LINE FOLLOWER ROBOTS

Line follower is an autonomous robot which follows either black line in white are or white line in
black area. Robot must be able to detect particular line and keep following it.

For special situations such as cross over where robot can have more than one path which can be
followed, predefined path must be followed by the robot.

This line or path may be as simple as a physical white line on the floor or as complex path marking
schemes e.g. embedded lines, magnetic markers and laser guide markers. In order to detect these
specific markers or ‘lines’, various sensing schemes can be employed. These schemes may vary from
simple low cost line sensing circuit to expansive vision systems. The choice of these schemes would
be dependent upon the sensing accuracy and flexibility required.

STEPS OF BUILDING A BASIC LINE FOLLOWER ROBOT

Building a basic Line Follower Robot involves the following steps,

 Designing the mechanical part or the body of the robot

 Defining the kinematics of the robots

 Designing the control of the robot

A basic Line follower robot can consist of a base at the two ends of which the wheels are mounted. A
rectangular sheet of hard plastic can be used as the base. Further a rigid body like a cylinder can be
added along with other shaped bodies inter connected with each other by joints, and each with its
defined motion in particular direction. The Line follower robot can be a wheeled mobile robot with
a fixed base.

The next step involves defining the Kinematics of the robot. Kinematic analysis of the robot involves
the description of its motion with respect to a fixed coordinate system.

The control of the robot is the most important aspect of its working. Here the term control refers to
the robot motion control, i.e. controlling the movement of the wheels. A basic line follower robot
follows certain path and the motion of the robot along this path is controlled by controlling the
rotation of wheels, which are placed on the shafts of the two motors. So, the basic control is
achieved by controlling the motors. The control circuitry involves the use of sensors to sense the
path and Arduino UNO to control the motor operation through the motor drivers, based on the
sensor output.

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CONCEPTS OF LINE FOLLOWER

Concept of working of line follower is related to light. They use the behaviour of light at black and
white surface. When light fall on a white surface it is almost full reflected and in case of black surface
light is completely absorbed. This behaviour of light is used in building a line follower robot.

In this Arduino based line follower robot we have used IR Transmitters and IR receivers also called
photo diodes. They are used for sending and receiving light. IR transmits infrared lights. When
infrared rays fall on white surface, it’s reflected back and caught by photodiodes which generates
some voltage changes. When IR light falls on a black surface, light is absorb by the black surface and
no rays are reflected back, thus photo diode does not receive any light or rays.

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OBJECTIVE OF PROJECT

To study the layout and working of the line follower robot in order to make use of the robots in the
apparel industry for the clump system.

• Observe the problem faced by conventional bundling system in the apparel industries.

• Understand and analyze the layout of the conventional bundling system.

• Understand and analyze the working of a line following robot.

• Implement a line following robot to help reduce problems faced by conventional bundling
system.

• Eliminate unnecessary through put time without any hindrance.

CLUMP SYSTEM

Clump production system is a type of manual system that is the traditional methods of garment
production. This type of production system is effectively use for creative garment design and where
the style variations are large. In manual system the production quantities are small.

In the clump system operator collect the garment part from the worktable and start the operation.
After finish the work, he returns it to the worktable. A worker for the second operation then
continues the work and so on. It is the continuous process until the whole garment has been
assembled. This process is simplified as, Collection – Work –Return.

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Clump production system is a type of conventional bundling system.

ADVANTAGES OF CLUMP SYSTEM

 The system is flexible, as it can cope with frequent style changes.

 Absenteeism and machine breakdown problems will not cause serious problems, as the
controller can control the amount of work received and dispatched.

 The system is easy to operate and supervise.

 Specialization and rhythm of operation increase productivity.

 As the WIP is high in this system, this is stable system.

 It is easier to obtain a uniform level of quality, as the controller can check the quality control.

 The labour cost is less compared with individual system.

DISADVANTAGES OF CLUMP SYSTEM

 It requires excessive handling of the materials by the operators, as they have to carry their work
back to the central inventory.

 Operators who are compensated by piece rates become extremely efficient at one operation
and may not be willing to learn a new operation because it reduces their efficiency and
earnings.

 It is difficult to control the inventory.

 It is difficult to see the work in progress at the various stages of manufacture.

 High level of WIP extends throughput time

 Engineering of work places is difficult because machines are arranged in the limited capacity.

 High level of work-in-progress.

 Large storage space is required to cope with the large volume of work-in-progress

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CONCEPT BEHIND THE PROJECT

The clump system of production requires excessive handling of the materials by the operators, as
they have to carry their work back to the central inventory. As a result, there is a high level of WIP
(Work In Progress) that extends throughput time.

If there was a pre-defined path that started from the operator’s workstation upto the table of
workload which was followed by a line follower robot, the operators would just need to load the
clump of materials onto the line follower robot which would automatically carry the clump to the
table of workload. After the working on that particular clump, the distributor simply needs to load
back the materials onto the line follower robot and place it on the path where it automatically goes
back to the operator’s workstation that needs to work.

The use of line follower robots in the clump production system will improve the efficiency of the
works and the production industry as well.

CICUIT DIAGRAM OF THE LINE FOLLOWER ROBOT

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The circuit diagram consists of the following parts,

 Arduino UNO

 L293D Motor Driver Module

 IR Proximity Sensors (pair)

 Jumper Wires

 DC Motors

Arduino UNO

Arduino UNO is a microcontroller board based on the ATmega328P (datasheet). It has 14 digital
input/output pins (of which 6 can be used as PWM outputs), 6 analog inputs, a 16 MHz quartz
crystal, a USB connection, a power jack, an ICSP header and a reset button. It contains everything
needed to support the microcontroller; simply connect it to a computer with a USB cable or power it
with an AC-to-DC adapter or battery to get started.

"UNO" means one in Italian and was chosen to mark the release of Arduino Software (IDE) 1.0. The
UNO board and version 1.0 of Arduino Software (IDE) were the reference versions of Arduino, now
evolved to newer releases. The UNO board is the first in a series of USB Arduino boards, and the
reference model for the Arduino platform.

L293D Motor Driver Module

This dual bidirectional motor driver is based on the very popular L298 Dual H-Bridge Motor Driver IC.
This module will allow you to easily and independently control two motors of up to 2A each in both
directions.

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It is ideal for robotic applications and well suited for connection to a microcontroller requiring just a
couple of control lines per motor. The module can drive DC motors that have voltages between 5
and 35V, with a peak current up to 2A.

IR Proximity sensors

Proximity Sensors are used to detect objects and obstacles in front of sensor. Sensor keeps
transmitting infrared light and when any object comes near, it is detected by the sensor by
monitoring the reflected light from the object. It can be used in robots for obstacle avoidance, for
automatic doors, for parking aid devices or for security alarm systems, or contact less tachometer by
measuring RPM of rotation objects like fan blades.

PIN, CONTROL INDICATOR DESCRIPTION

VCC 3.5 TO 5 VDC Supply unit

GND Ground Input

OUT Output that goes low when obstacle is in range

Power LED Illuminates when power is applied

Obstacle LED Illuminates when obstacle is detected

Distance Adjust Adjust detection distance.

IR Emitter Infrared emitter LED

IR Receiver Infrared receiver that receives signal from IR

emitter

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Jumper Wires

A jump wire (also known as jumper wire, or jumper) is an electrical wire, or group of them in a cable,
with a connector or pin at each end (or sometimes without them – simply "tinned"), which is
normally used to interconnect the components of a breadboard or other prototype or test circuit,
internally or with other equipment or components, without soldering.

Individual jump wires are fitted by inserting their "end connectors" into the slots provided in a
breadboard, the header connector of a circuit board, or a piece of test equipment.

Jumper wires typically come in three versions: male-to-male, male-to-female and female-to-female.
The difference between each is in the end point of the wire. Male ends have a pin protruding and
can plug into things, while female ends do not and are used to plug things into. Male-to-male jumper
wires are the most common and what you likely will use most often. When connecting two ports on
a breadboard, a male-to-male wire is what you’ll need.

Working of Line Follower Robot using Arduino

Line follower robot senses black line by using sensor and then sends the signal to Arduino. Then
Arduino drives the motor according to sensors' output.

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Here in this project we are using two IR sensor modules namely left sensor and right sensor. When
both left and right sensor senses black then robot move forward.

If left sensor comes on white line then robot turn right side.

If right sensor sense white line then robot turn left side until both sensor comes at black surface.
When black surface comes robot starts moving on forward again. If both sensors comes on white
line, robot stops.

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PARTS REQUIRED TO BUILD THE ROBOT

 Chassis (including motors and wheels )

 Arduino Uno r3
 L293D Motor Shield
 IR Proximity Sensors (pair)
 Jumper Wires

TOOLS REQUIRED

 Screw Driver
 DST tapes

ASSEMBLE THE CHASSIS

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The first step is assembling your robot body. Then, attach the components to the chassis. Arduino,
with the motor shield attached to it and also the battery must be fixed on the chassis.

Also, attach the proximity sensors at the front on either side, facing down. It must be made sure that
they are attached at the corners.

MAIN CONNECTIONS

Left Sensor >> Arduino

VCC >> 5V

GND >> GND

OUT >> A4

Right Sensor >> Arduino

VCC>>5V

GND>>GND

OUT>>A5

Connect the motors to the motor shield and plug the motor shield onto the Arduino board.

ARDUINO CODE

/ -------defining Inputs------ /

#define LS 2 // left sensor

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#define RS 3 // right sensor

/-------defining Outputs------/

#define LM1 4 // left motor

#define LM2 5 // left motor

#define RM1 6 // right motor

#define RM2 7 // right motor

void setup()

pinMode(LS, INPUT);

pinMode(RS, INPUT);

pinMode(LM1, OUTPUT);

pinMode(LM2, OUTPUT);

pinMode(RM1, OUTPUT);

pinMode(RM2, OUTPUT);

void loop()

if(digitalRead(LS) && digitalRead(RS)) // Move Forward

digitalWrite(LM1, HIGH);

digitalWrite(LM2, LOW);

digitalWrite(RM1, HIGH);

digitalWrite(RM2, LOW);

if(!(digitalRead(LS)) && digitalRead(RS)) // Turn right

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 {

digitalWrite(LM1, LOW);

digitalWrite(LM2, LOW);

digitalWrite(RM1, HIGH);

digitalWrite(RM2, LOW);

if(digitalRead(LS) && !(digitalRead(RS))) // turn left

digitalWrite(LM1, HIGH);

digitalWrite(LM2, LOW);

digitalWrite(RM1, LOW);

digitalWrite(RM2, LOW);

if(!(digitalRead(LS)) && !(digitalRead(RS))) // stop

digitalWrite(LM1, LOW);

digitalWrite(LM2, LOW);

digitalWrite(RM1, LOW);

digitalWrite(RM2, LOW);

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FINAL PRODUCT

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SUGGESTIONS TO THIS PROJECT

We can attach a weight sensor and define weights. Once the clump of materials of the required
weight is loaded on the line follower robot, only then will the line follower robot move towards the
table of workload.

We can attach an ultrasonic sensor. This ultrasonic sensor can detect obstacles in the path and stop
the line follower robot.

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REFERENCES

 https://www.electronicshub.org/

 https://www.scribd.com/

 http://blog.sparkfuneducation.com/

 https://en.wikipedia.org/

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